GCC Code Coverage Report

Directory: ./
File: unittest/algorithm/utils/force.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 22 22 100.0%
Branches: 129 254 50.8%
Line Branch Exec Source
1 //
2 // Copyright (c) 2020 INRIA
3 //
4
5 #include <iostream>
6
7 #include <boost/test/unit_test.hpp>
8 #include <boost/utility/binary.hpp>
9
10 #include "pinocchio/algorithm/utils/force.hpp"
11
12 using namespace pinocchio;
13
14 BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
15
16
33/66
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✓ Branch 27 taken 1 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 1 times.
✗ Branch 31 not taken.
✓ Branch 33 taken 1 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 1 times.
✗ Branch 37 not taken.
✓ Branch 41 taken 1 times.
✗ Branch 42 not taken.
✓ Branch 45 taken 1 times.
✗ Branch 46 not taken.
✓ Branch 48 taken 1 times.
✗ Branch 49 not taken.
✓ Branch 52 taken 1 times.
✗ Branch 53 not taken.
✓ Branch 55 taken 1 times.
✗ Branch 56 not taken.
✓ Branch 58 taken 1 times.
✗ Branch 59 not taken.
✓ Branch 61 taken 1 times.
✗ Branch 62 not taken.
✓ Branch 66 taken 1 times.
✗ Branch 67 not taken.
✓ Branch 70 taken 1 times.
✗ Branch 71 not taken.
✓ Branch 73 taken 1 times.
✗ Branch 74 not taken.
✓ Branch 77 taken 1 times.
✗ Branch 78 not taken.
✓ Branch 80 taken 1 times.
✗ Branch 81 not taken.
✓ Branch 83 taken 1 times.
✗ Branch 84 not taken.
✓ Branch 86 taken 1 times.
✗ Branch 87 not taken.
✓ Branch 91 taken 1 times.
✗ Branch 92 not taken.
✓ Branch 95 taken 1 times.
✗ Branch 96 not taken.
✓ Branch 98 taken 1 times.
✗ Branch 99 not taken.
✓ Branch 102 taken 1 times.
✗ Branch 103 not taken.
✓ Branch 105 taken 1 times.
✗ Branch 106 not taken.
✓ Branch 108 taken 1 times.
✗ Branch 109 not taken.
✓ Branch 111 taken 1 times.
✗ Branch 112 not taken.
✓ Branch 116 taken 1 times.
✗ Branch 117 not taken.
 4 BOOST_AUTO_TEST_CASE(test_force)
17 {
18 using namespace pinocchio;
19
20
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 const SE3 placement = SE3::Random();
21
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 const Force f_in = Force::Random();
22
23 // test case 1-2-3
24 {
25
8/16
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 1 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 1 times.
✗ Branch 21 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✗ Branch 28 not taken.
✓ Branch 29 taken 1 times.
 2 BOOST_CHECK(changeReferenceFrame(placement, f_in, LOCAL, LOCAL) == f_in);
26
8/16
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 1 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 1 times.
✗ Branch 21 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✗ Branch 28 not taken.
✓ Branch 29 taken 1 times.
 2 BOOST_CHECK(changeReferenceFrame(placement, f_in, WORLD, WORLD) == f_in);
27
8/16
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 1 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 1 times.
✗ Branch 21 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✗ Branch 28 not taken.
✓ Branch 29 taken 1 times.
 2 BOOST_CHECK(
28 changeReferenceFrame(placement, f_in, LOCAL_WORLD_ALIGNED, LOCAL_WORLD_ALIGNED) == f_in);
29 }
30
31 2 const ReferenceFrame all_choices[3] = {LOCAL, WORLD, LOCAL_WORLD_ALIGNED};
32
2/2
✓ Branch 0 taken 3 times.
✓ Branch 1 taken 1 times.
 8 for (int i = 0; i < 3; ++i)
33
2/2
✓ Branch 0 taken 9 times.
✓ Branch 1 taken 3 times.
 24 for (int j = 0; j < 3; ++j)
34
9/18
✓ Branch 1 taken 9 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 9 times.
✗ Branch 6 not taken.
✓ Branch 11 taken 9 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 9 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 9 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 9 times.
✗ Branch 21 not taken.
✓ Branch 23 taken 9 times.
✗ Branch 24 not taken.
✓ Branch 26 taken 9 times.
✗ Branch 27 not taken.
✗ Branch 31 not taken.
✓ Branch 32 taken 9 times.
 18 BOOST_CHECK(
35 changeReferenceFrame(SE3::Identity(), f_in, all_choices[i], all_choices[j]) == f_in);
36
37 // LOCAL/WORLD and WORLD/LOCAL
38 {
39
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 Force f_sol_w = placement.act(f_in);
40
8/16
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 1 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 1 times.
✗ Branch 21 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✗ Branch 28 not taken.
✓ Branch 29 taken 1 times.
 2 BOOST_CHECK(changeReferenceFrame(placement, f_in, LOCAL, WORLD) == f_sol_w);
41
8/16
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 18 taken 1 times.
✗ Branch 19 not taken.
✓ Branch 21 taken 1 times.
✗ Branch 22 not taken.
✓ Branch 24 taken 1 times.
✗ Branch 25 not taken.
✗ Branch 29 not taken.
✓ Branch 30 taken 1 times.
 2 BOOST_CHECK(changeReferenceFrame(placement, f_sol_w, WORLD, LOCAL).isApprox(f_in));
42 }
43
44 // LOCAL/LOCAL_WORLD_ALIGNED and LOCAL_WORLD_ALIGNED/LOCAL
45 {
46
3/6
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
 2 const SE3 placement_LWA(placement.rotation(), SE3::Vector3::Zero());
47
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 Force f_sol_lwa = placement_LWA.act(f_in);
48
8/16
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 1 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 1 times.
✗ Branch 21 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✗ Branch 28 not taken.
✓ Branch 29 taken 1 times.
 2 BOOST_CHECK(changeReferenceFrame(placement, f_in, LOCAL, LOCAL_WORLD_ALIGNED) == f_sol_lwa);
49
8/16
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 18 taken 1 times.
✗ Branch 19 not taken.
✓ Branch 21 taken 1 times.
✗ Branch 22 not taken.
✓ Branch 24 taken 1 times.
✗ Branch 25 not taken.
✗ Branch 29 not taken.
✓ Branch 30 taken 1 times.
 2 BOOST_CHECK(
50 changeReferenceFrame(placement, f_sol_lwa, LOCAL_WORLD_ALIGNED, LOCAL).isApprox(f_in));
51 }
52
53 // WORLD/LOCAL_WORLD_ALIGNED and LOCAL_WORLD_ALIGNED/WORLD
54 {
55
3/6
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
 2 const SE3 placement_W(SE3::Matrix3::Identity(), placement.translation());
56
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 Force f_sol_w = placement_W.act(f_in);
57
8/16
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 1 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 1 times.
✗ Branch 21 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✗ Branch 28 not taken.
✓ Branch 29 taken 1 times.
 2 BOOST_CHECK(changeReferenceFrame(placement, f_in, LOCAL_WORLD_ALIGNED, WORLD) == f_sol_w);
58
8/16
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 18 taken 1 times.
✗ Branch 19 not taken.
✓ Branch 21 taken 1 times.
✗ Branch 22 not taken.
✓ Branch 24 taken 1 times.
✗ Branch 25 not taken.
✗ Branch 29 not taken.
✓ Branch 30 taken 1 times.
 2 BOOST_CHECK(
59 changeReferenceFrame(placement, f_sol_w, WORLD, LOCAL_WORLD_ALIGNED).isApprox(f_in));
60 }
61 2 }
62
63 BOOST_AUTO_TEST_SUITE_END()
64